Plugin/Source/SenseGloveCore/Public/SGCore/SGHandPose.h

/**
 * @file
 *
 * @author  Mamadou Babaei <mamadou@senseglove.com>
 *
 * @section LICENSE
 *
 * (The MIT License)
 *
 * Copyright (c) 2020 - 2022 SenseGlove
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *
 * @section DESCRIPTION
 *
 * Data class containing all variables to draw or analyze a virtual hand
 * in different formats.
 */


#pragma once

#include "Containers/Array.h"
#include "Containers/UnrealString.h"
#include "Math/Quat.h"
#include "Math/Vector.h"
#include "Templates/UniquePtr.h"
#include "UObject/Object.h"
#include "UObject/ObjectMacros.h"

#include "SGCore/SGQuatArray.h"
#include "SGCore/SGRotatorArray.h"
#include "SGCore/SGVectorArray.h"
#include "SGTypes/SGCoreTypes.h"

#include "SGHandPose.generated.h"

class USGBasicHandModel;
class FSGHandPoseImpl;
class USGHandPose;

/**
 * Contains all variables required to draw or analyze a virtual hand.
 */
UCLASS(BlueprintType)
class SENSEGLOVECORE_API USGHandPose final : public UObject
{
    GENERATED_BODY()

public:
    static USGHandPose* NewHandPose(
        UObject* Outer, const FSGHandPoseImpl& HandPoseImpl);

public:
    /**
     * The default constructor.
     */
    static USGHandPose* NewHandPose(UObject* Outer);

    static USGHandPose* NewHandPose(
        UObject* Outer,
        bool bRightHanded, const TArray<TArray<FVector>>& JointPositions, const TArray<TArray<FQuat>>& JointRotations,
        const TArray<TArray<FVector>>& HandAngles);

    /**
     * Create a new instance of HandPose.
     */
    static USGHandPose* NewHandPose(
        UObject* Outer,
        bool bRightHanded,
        const TArray<TArray<FVector>>& JointPositions, const TArray<TArray<FRotator>>& JointRotations,
        const TArray<TArray<FVector>>& HandAngles);

    /**
     * Create a new instance of HandPose.
     */
    static USGHandPose* NewHandPose(
        UObject* Outer,
        bool bRightHanded, const TArray<FSGVectorArray>& JointPositions, const TArray<FSGQuatArray>& JointRotations,
        const TArray<FSGVectorArray>& HandAngles);

    /**
     * Create a new instance of HandPose.
     */
    static USGHandPose* NewHandPose(
        UObject* Outer,
        bool bRightHanded, const TArray<FSGVectorArray>& JointPositions, const TArray<FSGRotatorArray>& JointRotations,
        const TArray<FSGVectorArray>& HandAngles);

public:
    /**
     * Deserialize a HandPose back into usable values.
     */
    static USGHandPose* Deserialize(UObject* Outer, const FString& SerializedString);

    /**
     * Generate a HandPose based on articulation angles (handAngles).
     */
    static USGHandPose* FromHandAngles(UObject* Outer,
                                       const TArray<TArray<FVector>>& HandAngles, bool bRightHanded,
                                       const USGBasicHandModel* HandDimensions);

    /**
     * Generate a HandPose based on articulation angles (handAngles), with a default HandModel.
     */
    static USGHandPose* FromHandAngles(UObject* Outer, const TArray<TArray<FVector>>& HandAngles, bool bRightHanded);

    /**
     * Create a new instance of a left or right handed Pose that is "idle"; in a neutral position.
     */
    static USGHandPose* DefaultIdle(UObject* Outer, bool bRightHanded, const USGBasicHandModel* HandDimensions);

    /**
     * Create a new instance of a left or right handed Pose that is "idle"; in a neutral position.
     */
    static USGHandPose* DefaultIdle(UObject* Outer, bool bRightHanded);

    /**
     * Generates a HandPose representing an 'open hand', used in calibration to determine finger extension.
     */
    static USGHandPose* FlatHand(UObject* Outer, bool bRightHanded, const USGBasicHandModel* HandDimensions);

    /**
     * Generates a HandPose representing an 'open hand', used in calibration to determine finger extension.
     */
    static USGHandPose* FlatHand(UObject* Outer, bool bRightHanded);

    /**
     * Generates a HandPose representing a 'thumbs up', used in calibration to determine finger flexion, thumb extension and adduction.
     */
    static USGHandPose* ThumbsUp(UObject* Outer, bool bRightHanded, const USGBasicHandModel* HandDimensions);

    /**
     * Generates a HandPose representing a 'thumbs up', used in calibration to determine finger flexion, thumb extension and adduction.
     */
    static USGHandPose* ThumbsUp(UObject* Outer, bool bRightHanded);

    /**
     * Generates a HandPose representing a 'fist', used in calibration to determine, thumb flexion and abduction.
     */
    static USGHandPose* Fist(UObject* Outer, bool bRightHanded, const USGBasicHandModel* HandDimensions);

    /**
     * Generates a HandPose representing a 'fist', used in calibration to determine, thumb flexion and abduction.
     */
    static USGHandPose* Fist(UObject* Outer, bool bRightHanded);

private:
    struct FImpl;

    struct FImplDeleter
    {
        void operator()(const FImpl* P) const;
    };

    TUniquePtr<FImpl, FImplDeleter> Pimpl;
    FImplDeleter PimplDeleter;

public:
    /**
     * The default constructor.
     */
    USGHandPose();

    /**
     * Create a new instance of HandPose.
     */
    USGHandPose(bool bRightHanded,
                const TArray<TArray<FVector>>& JointPositions, const TArray<TArray<FQuat>>& JointRotations,
                const TArray<TArray<FVector>>& HandAngles);

    /**
     * Create a new instance of HandPose.
     */
    USGHandPose(bool bRightHanded,
                const TArray<TArray<FVector>>& JointPositions, const TArray<TArray<FRotator>>& JointRotations,
                const TArray<TArray<FVector>>& HandAngles);

    /**
     * Create a new instance of HandPose.
     */
    USGHandPose(bool bRightHanded,
                const TArray<FSGVectorArray>& JointPositions, const TArray<FSGQuatArray>& JointRotations,
                const TArray<FSGVectorArray>& HandAngles);

    /**
     *
     */
    USGHandPose(bool bRightHanded,
                const TArray<FSGVectorArray>& JointPositions, const TArray<FSGRotatorArray>& JointRotations,
                const TArray<FSGVectorArray>& HandAngles);

public:
    /**
     * The cast from underlying type constructor.
     */
    explicit USGHandPose(const FSGHandPoseImpl& HandPoseImpl);

public:
    /**
     * The destructor.
     */
    virtual ~USGHandPose() override;

protected:
    /**
     * Allows to set the underlying object after construction.
     */
    void SetHandPoseImpl(const FSGHandPoseImpl& HandPoseImpl);

public:
    /**
     * The cast to underlying type method.
     */
    const FSGHandPoseImpl& ToHandPoseImpl() const;

public:
    /**
     *  Whether this HandPose was created to be a right- or left hand.
     */
    bool IsRight() const;

    /**
     * Positions of all hand joints relative to the Sense Glove origin. From thumb to pinky, proximal to distal.
     */
    TArray<TArray<FVector>> GetJointPositions() const;

    /**
     * Quaternion rotations of all hand joints. From thumb to pinky, proximal to distal.
     */
    TArray<TArray<FQuat>> GetJointRotationsQ() const;

    /**
     * Rotations of all hand joints. From thumb to pinky, proximal to distal.
     */
    TArray<TArray<FRotator>> GetJointRotations() const;

    /**
     * Euler representations of all possible hand angles. From thumb to pinky, proximal to distal.
     */
    TArray<TArray<FVector>> GetHandAngles() const;

public:
    /**
     * Returns true of these two hand poses are roughly equal.
     */
    bool Equals(const USGHandPose* HandPose) const;

    /**
     * Returns the total flexion of a specific finger as a value between 0 (fully extended) and 1 (fully flexed).
     *
     * @remarks Useful for animation or for detecting gestures.
     */
    float GetNormalizedFlexion(ESGFinger Finger, bool bClamp01 = true) const;

    /**
     * Returns the total flexion of a specific finger as a value between 0 (fully extended) and 1 (fully flexed).
     *
     * @remarks Useful for animation or for detecting gestures.
     */
    TArray<float> GetNormalizedFlexion(bool bClamp01 = true) const;

public:
    /**
     *
     */
    FString ToString(bool bShortFormat = false) const;

    /**
     * Serialize this HandPose into a string representation.
     */
    FString SGSerialize() const;
};